Pesticide spraying system and method

Abstract

The invention relates to the technical field of agricultural production, in particular to a pesticide spraying system and method.The pesticide spraying system comprises an ultrasonic collection module, a pesticide liquid supply module, an intelligent decision module, a pesticide spraying execution module, a mobile platform and a remote monitoring and control module, and the remote monitoring and control module controls the ultrasonic collection module to collect plant information; the information is transmitted to the intelligent decision-making module; the intelligent decision-making module analyzes a plant distribution result based on the plant information, and calculates a pesticide liquid amount and pesticide spraying time required by each area in combination with a preset pesticide spraying strategy to obtain a pesticide spraying decision; the mobile platform autonomously travels according to a preset route, and meanwhile, the pesticide spraying execution module accurately sprays pesticide liquid to plants based on a pesticide spraying decision, so that the system reduces pesticide liquid waste, reduces agricultural production cost, avoids environmental pollution caused by excessive pesticide application, protects the ecological environment, reduces the risk that an operator is in contact with the pesticide, guarantees the health of the operator, and improves the working efficiency. The intelligent and automatic pesticide spraying operation is realized, and the agricultural production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural production, and in particular to a pesticide spraying system and method. Background Art

[0002] Crop pests and diseases are one of the main agricultural disasters in my country. They are characterized by many types, great impact, and frequent outbreaks. The following types of pests and diseases are common in my country's crops: rice planthoppers, powdery mildew, corn borers, cotton bollworms, wheat rust, cotton aphids, rice sheath blight, rice blast, wheat aphids, wheat spider mites, locusts, wheat scab, etc. They have become major pests and diseases that seriously affect my country's agricultural production, and spraying pesticides on crops has become the main means of preventing and controlling pests and diseases.

[0003] However, the traditional manual spraying method often results in a waste of liquid medicine and poses a health hazard to operators. Summary of the invention

[0004] The purpose of the present invention is to provide a spraying system and method, aiming to solve the problem that manual spraying methods waste liquid medicine and cause harm to the health of operators.

[0005] To achieve the above-mentioned purpose, in a first aspect, the present invention provides a spraying system, comprising an ultrasonic acquisition module, a liquid medicine supply module, an intelligent decision module, a spraying execution module, a mobile platform and a remote monitoring and control module, wherein the mobile platform is respectively connected to the ultrasonic acquisition module, the liquid medicine supply module, the intelligent decision module, the spraying execution module and the remote monitoring and control module, the intelligent decision module is respectively connected to the ultrasonic acquisition module and the remote monitoring and control module, and the liquid medicine supply module is connected to the spraying execution module;

[0006] The ultrasonic acquisition module collects plant information based on ultrasonic radar technology and transmits the plant information to the intelligent decision-making module;

[0007] The liquid medicine supply module is used to supply liquid medicine to the spray execution module;

[0008] The intelligent decision-making module analyzes the plant distribution results based on the plant information, and calculates the required amount of liquid medicine and spraying time for each area in combination with the preset spraying strategy to obtain a spraying decision;

[0009] The spraying execution module sprays the liquid medicine on the plants based on the spraying decision;

[0010] The mobile platform is used to carry the ultrasonic acquisition module, the liquid medicine supply module, the intelligent decision-making module, the spraying execution module and the remote monitoring and control module, and to move remotely in the farmland or drive autonomously according to a preset route;

[0011] The remote monitoring and control module remotely monitors and controls the ultrasonic acquisition module, the liquid medicine supply module, the intelligent decision-making module, the spraying execution module and the mobile platform based on a wireless network, and interferes with the spraying process.

[0012] Wherein, the spraying system further comprises a navigation module, and the navigation module is connected to the mobile platform;

[0013] The navigation module obtains the position of the mobile platform based on the RTK differential positioning technology, and the remote monitoring and control module parses the position data, compares the actual position of the remote monitoring and control module with the route position, and corrects the actual driving direction and speed of the remote monitoring and control module.

[0014] Among them, the medicine liquid supply module includes a medicine liquid storage box, a medicine liquid pump and a medicine liquid delivery pipeline. The medicine liquid pump is connected to the medicine liquid storage box and is located on one side of the medicine liquid storage box. The medicine liquid delivery pipeline is connected to the medicine liquid pump and is located on one side of the medicine liquid pump.

[0015] Among them, the spray execution module includes a solenoid valve and a nozzle, the solenoid valve is arranged on the side of the liquid medicine delivery pipeline away from the liquid medicine pump, and the nozzle is connected to the liquid medicine delivery pipeline and is located on the side of the liquid medicine delivery pipeline away from the liquid medicine pump.

[0016] In a second aspect, the present invention further provides a spraying method, which is applied to the spraying system described in the first aspect, and is characterized by comprising the following steps:

[0017] Install and debug the ultrasonic acquisition module on the mobile platform, and configure the liquid supply module based on the spraying operation requirements;

[0018] The remote monitoring and control module controls the ultrasonic acquisition module to collect plant information and transmits the plant information to the intelligent decision-making module;

[0019] The intelligent decision-making module analyzes the plant distribution results based on the plant information, and calculates the required liquid volume and spraying time for each area in combination with the preset spraying strategy to obtain the spraying decision;

[0020] The mobile platform drives autonomously according to the preset route. At the same time, the spraying execution module sprays the plants with liquid based on the spraying decision.

[0021] A spraying system of the present invention controls the ultrasonic acquisition module to collect plant information through the remote monitoring and control module, and transmits the plant information to the intelligent decision-making module. Specifically, the ultrasonic radar forms a detection matrix to obtain the plant distribution and crown growth status of the orchard plants in real time, and obtains the required amount of medicine for the target plant through an algorithm. First, a group of ultrasonic acquisition modules on the head of the mobile platform (robot) are used to pre-scan the target plant to be sprayed with medicine, and the ultrasonic acquisition module detects the distance from the mobile platform (robot) to the trunk and crown of the plant, and the distance of the front plant relative to the mobile platform (robot) and the diameter of the crown and the height of the plant are calculated in combination with the vehicle speed. The intelligent decision-making module analyzes the plant distribution results based on the plant information, and calculates the required amount of liquid medicine and spraying time for each area in combination with the preset spraying strategy to obtain a spraying decision. Specifically, the intelligent decision-making module establishes a preliminary 3D model of the appearance of the front plant, and the robot main controller establishes a 3D model based on the established The 3D model of the plant's appearance is combined with the combined application effect database of the selected medicine pump and the nozzle to formulate a preliminary application plan for the target plant to be applied in front, including the required amount of medicine, the medicine pump pressure and the control variables such as the direction of the nozzle. Then, the ultrasonic acquisition module matrix in the middle of the robot is used to perform a close scanning and analysis on the target plant to be applied, so as to obtain a more accurate 3D model of the plant, adjust the pre-formed plan, and form a more accurate time-slice application plan. The mobile platform drives autonomously according to the preset route. At the same time, the spraying execution module accurately sprays the liquid medicine on the plant based on the spraying decision. The system improves the accuracy of spraying, reduces the waste of liquid medicine, reduces the cost of agricultural production, avoids the pollution of the environment caused by excessive application of pesticides, protects the ecological environment, and reduces the risk of operators being exposed to pesticides, protects the health of operators, realizes the intelligence and automation of spraying operations, improves agricultural production efficiency, and solves the problem of waste of liquid medicine and harm to the health of operators in manual spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a connection schematic diagram of a spraying system provided by the present invention.

[0024] Figure 2 It is a schematic diagram of a liquid supply module of a spraying system provided by the present invention.

[0025] Figure 3It is a schematic diagram of a spraying execution module of a liquid medicine spraying system provided by the present invention.

[0026] Figure 4 The present invention is a schematic diagram of the travel direction of a spraying system.

[0027] Figure 5 The present invention is a schematic flow chart of a spraying method.

[0028] Figure 6 The present invention provides a flow chart of the steps of a spraying method.

[0029] In the figure: 1-ultrasonic acquisition module, 2-liquid supply module, 3-intelligent decision module, 4-spraying execution module, 5-mobile platform, 6-remote monitoring and control module, 7-navigation module, 21-liquid storage tank, 22-liquid pump, 23-liquid delivery pipeline, 41-solenoid valve, 42-spray nozzle. DETAILED DESCRIPTION

[0030] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0031] See also Figures 1 to 4 In a first aspect, the present invention provides a spraying system, comprising an ultrasonic acquisition module 1, a liquid medicine supply module 2, an intelligent decision module 3, a spraying execution module 4, a mobile platform 5 and a remote monitoring and control module 6, wherein the mobile platform 5 is respectively connected to the ultrasonic acquisition module 1, the liquid medicine supply module 2, the intelligent decision module 3, the spraying execution module 4 and the remote monitoring and control module 6, the intelligent decision module 3 is respectively connected to the ultrasonic acquisition module 1 and the remote monitoring and control module 6, and the liquid medicine supply module 2 is connected to the spraying execution module 4;

[0032] The ultrasonic acquisition module 1 collects plant information based on ultrasonic radar technology and transmits the plant information to the intelligent decision-making module 3;

[0033] The liquid medicine supply module 2 is used to supply liquid medicine to the spray execution module 4;

[0034] The intelligent decision module 3 analyzes the plant distribution results based on the plant information, and calculates the required liquid medicine amount and spraying time for each area in combination with the preset spraying strategy to obtain a spraying decision;

[0035] The spraying execution module 4 sprays the liquid medicine on the plants based on the spraying decision;

[0036] The mobile platform 5 is used to carry the ultrasonic acquisition module 1, the liquid medicine supply module 2, the intelligent decision-making module 3, the spraying execution module 4 and the remote monitoring and control module 6, and to move remotely in the farmland or autonomously according to a preset route;

[0037] The remote monitoring and control module 6 remotely monitors and controls the ultrasonic acquisition module 1, the liquid medicine supply module 2, the intelligent decision-making module 3, the spraying execution module 4 and the mobile platform 5 based on a wireless network, and interferes with the spraying process.

[0038] In an embodiment of the present invention, the ultrasonic acquisition module 1 is controlled by the remote monitoring and control module 6 to collect plant information, and the plant information is transmitted to the intelligent decision-making module 3. Specifically, the ultrasonic radar forms a detection matrix to obtain the plant distribution and crown growth status of the orchard plants in real time, and obtains the required amount of medicine for the target plant through an algorithm. First, a group of ultrasonic acquisition modules 1 on the head of the mobile platform 5 (robot) are used to pre-scan the target plant to be sprayed, and the ultrasonic acquisition module 1 detects the distance from the mobile platform 5 (robot) to the trunk and crown of the plant, and calculates the distance of the front plant relative to the mobile platform 5 (robot) and the diameter of the crown and the height of the plant in combination with the vehicle speed. The intelligent decision-making module 3 analyzes the plant distribution results based on the plant information, and calculates the required amount of liquid medicine and spraying time for each area in combination with the preset spraying strategy to obtain a spraying decision. Specifically, the intelligent decision-making module 3 establishes a preliminary 3D model of the appearance of the front plant, and the robot main controller establishes a 3D model according to the established 3D model. The 3D model of the plant's appearance is combined with the selected medicine pump and the combined medicine application effect database of the nozzle 42 to formulate a pre-medication plan for the target plant to be applied in front, including the required amount of medicine, the medicine pump pressure and the direction of the nozzle 42 and other control variables. Then, the ultrasonic acquisition module 1 matrix in the middle of the robot is used to perform a close scanning and analysis of the target plant to be applied, so as to obtain a more accurate 3D model of the plant, adjust the pre-plan formed before, and form a more accurate time-slice medicine application plan. The mobile platform 5 drives autonomously according to the preset route. At the same time, the spraying execution module 4 accurately sprays the medicine solution on the plant based on the spraying decision. The system improves the accuracy of spraying, reduces the waste of medicine solution, reduces the cost of agricultural production, avoids the pollution of the environment by excessive application of medicine, protects the ecological environment, and reduces the risk of operators being exposed to pesticides, protects the health of operators, realizes the intelligence and automation of spraying operations, improves agricultural production efficiency, and solves the problem of waste of medicine solution and harm to the health of operators in manual spraying.

[0039] Furthermore, the spraying system further includes a navigation module 7, and the navigation module 7 is connected to the mobile platform 5;

[0040] The navigation module 7 obtains the position of the mobile platform 5 based on the RTK differential positioning technology, and the remote monitoring and control module 6 parses the position data, compares the actual position of the remote monitoring and control module 6 with the route position, and corrects the actual driving direction and speed of the remote monitoring and control module 6.

[0041] In an embodiment of the present invention, the navigation module 7 obtains the position of the mobile platform 5 based on the RTK differential positioning technology, and the remote monitoring and control module 6 parses the position data, compares the actual position of the remote monitoring and control module 6 with the route position, and corrects the actual driving direction and speed of the remote monitoring and control module 6. The navigation module 7 mainly serves as a navigator for the mobile platform 5 to move forward along a predetermined route. The combination of the two modules can realize unmanned intelligent and precise application of pesticides.

[0042] Furthermore, the medicine liquid supply module 2 includes a medicine liquid storage tank 21, a medicine liquid pump 22 and a medicine liquid delivery pipeline 23, the medicine liquid pump 22 is connected to the medicine liquid storage tank 21 and is located on one side of the medicine liquid storage tank 21, and the medicine liquid delivery pipeline 23 is connected to the medicine liquid pump 22 and is located on one side of the medicine liquid pump 22.

[0043] In an embodiment of the present invention, the liquid medicine storage tank 21 selects a suitable capacity according to the needs of the spraying operation, and the liquid medicine pump 22 is driven by a driving motor to extract the liquid medicine in the liquid medicine storage tank 21 and introduce it into the liquid medicine delivery pipe 23, and then introduce it into the spraying execution module 4 through the liquid medicine delivery pipe 23 for spraying.

[0044] Furthermore, the spray execution module 4 includes a solenoid valve 41 and a nozzle 42, the solenoid valve 41 is arranged on the side of the liquid medicine delivery pipeline 23 away from the liquid medicine pump 22, and the nozzle 42 is connected to the liquid medicine delivery pipeline 23 and is located on the side of the liquid medicine delivery pipeline 23 away from the liquid medicine pump 22.

[0045] In the embodiment of the present invention, the amount of medicine sprayed by the spray head 42 and the spraying time are controlled by opening or closing the solenoid valve 41, so as to achieve precise spraying of the plants.

[0046] See also Figure 5-Figure 6 In a second aspect, the present invention further provides a spraying method, which is applied to a spraying system as described in the first aspect, and is characterized in that it comprises the following steps:

[0047] S1 installs and debugs the ultrasonic acquisition module 1 on the mobile platform 5, and configures the liquid supply module 2 based on the spraying operation requirements;

[0048] In the embodiment of the present invention, a plurality of the ultrasonic acquisition modules 1 are installed at appropriate positions on both sides of the mobile platform 5 to ensure that the plant information can be fully collected. The installation angle and detection distance of the ultrasonic acquisition module 1 are debugged to enable it to work normally, and the acquired plant data is transmitted to the remote monitoring and control module 6. According to the needs of the spraying operation, the liquid medicine storage tank 21 of appropriate capacity is selected, and the liquid medicine pump 22 and the liquid medicine delivery pipeline 23 are installed to ensure that the liquid medicine can be stably supplied to the spraying execution module 4.

[0049] S2 remote monitoring and control module 6 controls ultrasonic acquisition module 1 to collect plant information and transmits the plant information to intelligent decision module 3;

[0050] In the embodiment of the present invention, the remote monitoring and control module 6 controls

[0051] The S3 intelligent decision module 3 analyzes the plant distribution results based on the plant information, and calculates the required liquid medicine amount and spraying time for each area in combination with the preset spraying strategy to obtain a spraying decision; a group of ultrasonic acquisition modules 1 on the head of the mobile platform 5 (robot) performs a pre-scan of the target plants to be sprayed, and detects the distance from the mobile platform 5 (robot) to the trunk and crown of the plant through the ultrasonic acquisition module 1, and calculates the distance of the plant in front relative to the mobile platform 5 (robot) and the diameter of the crown and the height of the plant in combination with the vehicle speed. The intelligent decision module 3 analyzes the plant distribution results based on the plant information, and calculates the required liquid medicine amount and spraying time for each area in combination with the preset spraying strategy to obtain a spraying decision. The required amount of liquid medicine and spraying time for each area are obtained to make a spraying decision. The intelligent decision-making module 3 establishes a preliminary 3D model of the appearance of the plant in front. The robot main controller formulates a preliminary spraying plan for the target plant to be sprayed in front, including the required amount of medicine, pump pressure, and direction of the nozzle 42 and other control variables according to the established 3D model of the plant's appearance combined with the selected medicine pump and nozzle 42 combination spraying effect database. Then, the ultrasonic acquisition module 1 matrix in the middle of the robot is used to perform close scanning and analysis on the target plant to be sprayed, obtain a more accurate 3D model of the plant, adjust the previously formed pre-plan, and form a more accurate time slice spraying plan.

[0052] S4 The mobile platform 5 autonomously drives according to the preset route. At the same time, the spraying execution module 4 sprays the liquid medicine on the plants based on the spraying decision.

[0053] In the embodiment of the present invention, remote monitoring and control of the spraying system is achieved through a wireless network, and the operator can understand the spraying operation status in real time and intervene when necessary. By opening or closing the solenoid valve 41, the amount of medicine sprayed by the nozzle 42 and the spraying time can be controlled to achieve precise spraying of plants.

[0054] The above disclosure is only a preferred embodiment of a spraying system and method of the present invention, and it is certainly not used to limit the scope of the present invention. A person skilled in the art can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A spraying system, characterized in that: It includes an ultrasonic acquisition module, a liquid medicine supply module, an intelligent decision module, a spraying execution module, a mobile platform and a remote monitoring and control module. The mobile platform is respectively connected to the ultrasonic acquisition module, the liquid medicine supply module, the intelligent decision module, the spraying execution module and the remote monitoring and control module. The intelligent decision module is respectively connected to the ultrasonic acquisition module and the remote monitoring and control module, and the liquid medicine supply module is connected to the spraying execution module. The ultrasonic acquisition module collects plant information based on ultrasonic radar technology and transmits the plant information to the intelligent decision-making module; The liquid medicine supply module is used to supply liquid medicine to the spray execution module; The intelligent decision-making module analyzes the plant distribution results based on the plant information, and calculates the required amount of liquid medicine and spraying time for each area in combination with the preset spraying strategy to obtain a spraying decision; The spraying execution module sprays the liquid medicine on the plants based on the spraying decision; The mobile platform is used to carry the ultrasonic acquisition module, the liquid medicine supply module, the intelligent decision-making module, the spraying execution module and the remote monitoring and control module, and to move remotely in the farmland or drive autonomously according to a preset route; The remote monitoring and control module remotely monitors and controls the ultrasonic acquisition module, the liquid medicine supply module, the intelligent decision-making module, the spraying execution module and the mobile platform based on a wireless network, and interferes with the spraying process.

2. A spraying system according to claim 1, characterized in that: The spraying system further comprises a navigation module, and the navigation module is connected to the mobile platform; The navigation module obtains the position of the mobile platform based on the RTK differential positioning technology, and the remote monitoring and control module parses the position data, compares the actual position of the remote monitoring and control module with the route position, and corrects the actual driving direction and speed of the remote monitoring and control module.

3. A spraying system according to claim 1, characterized in that: The medicine liquid supply module includes a medicine liquid storage box, a medicine liquid pump and a medicine liquid delivery pipeline. The medicine liquid pump is connected to the medicine liquid storage box and is located on one side of the medicine liquid storage box. The medicine liquid delivery pipeline is connected to the medicine liquid pump and is located on one side of the medicine liquid pump.

4. A spraying system as claimed in claim 3, characterized in that: The spray execution module includes a solenoid valve and a spray head. The solenoid valve is arranged on a side of the liquid medicine delivery pipeline away from the liquid medicine pump. The spray head is connected to the liquid medicine delivery pipeline and is located on a side of the liquid medicine delivery pipeline away from the liquid medicine pump.

5. A spraying method, applied to a spraying system as claimed in any one of claims 1 to 4, characterized in that: The following steps are involved: Install and debug the ultrasonic acquisition module on the mobile platform, and configure the liquid supply module based on the spraying operation requirements; The remote monitoring and control module controls the ultrasonic acquisition module to collect plant information and transmits the plant information to the intelligent decision-making module; The intelligent decision-making module analyzes the plant distribution results based on the plant information, and calculates the required liquid volume and spraying time for each area in combination with the preset spraying strategy to obtain the spraying decision; The mobile platform drives autonomously according to the preset route. At the same time, the spraying execution module sprays the plants with liquid based on the spraying decision.

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